Haptic human-robot collaboration for walker-assisted navigation based on admittance controllers

Sierra M., Sergio D.; Jimenez, Mario F.; Munera, Marcela; Cifuentes, Carlos A.; Frizera, Anselmo

doi:10.1109/LRA.2023.3256924

Haptic human-robot collaboration for walker-assisted navigation based on admittance controllers

Sierra M., Sergio D.; Jimenez, Mario F.; Munera, Marcela; Cifuentes, Carlos A.; Frizera, Anselmo

Authors

Sergio D. Sierra M.

Mario F. Jimenez

Marcela Munera

Carlos A. Cifuentes

Anselmo Frizera

Abstract

In recent years, advances in robotics and the constant growth of gait-related pathologies led to the development of different assistive devices. Smart walkers provide natural and intuitive strategies for gait assistance, such as path-following and guidance. Although these functionalities usually employ shared control approaches, the users' level of participation has yet to be assessed. This work presents the implementation of three modulation strategies for assisted navigation tasks. A path-following algorithm and a set of admittance-based controllers modulate the control authority between the user and the device. A group of 20 healthy subjects formed the validation group. Results showed a kinematic estimation error of 0.13 m for the strategy that shared the control authority with the user. Statistical tests found significant differences regarding the naturalness of the proposed approach (p-value of 0.00587).

Citation

Sierra M., S. D., Jimenez, M. F., Munera, M., Cifuentes, C. A., & Frizera, A. (2023). Haptic human-robot collaboration for walker-assisted navigation based on admittance controllers. IEEE Robotics and Automation Letters, 8(5), 2622-2628. https://doi.org/10.1109/LRA.2023.3256924

Journal Article Type	Article
Acceptance Date	Feb 27, 2023
Online Publication Date	Mar 24, 2023
Publication Date	May 1, 2023
Deposit Date	May 10, 2023
Publicly Available Date	May 15, 2023
Journal	IEEE Robotics and Automation Letters
Print ISSN	2377-3766
Electronic ISSN	2377-3766
Publisher	Institute of Electrical and Electronics Engineers
Peer Reviewed	Peer Reviewed
Volume	8
Issue	5
Pages	2622-2628
DOI	https://doi.org/10.1109/LRA.2023.3256924
Keywords	Artificial Intelligence, Control and Optimization, Computer Science Applications, Computer Vision and Pattern Recognition, Mechanical Engineering, Human-Computer Interaction, Biomedical Engineering, Control and Systems Engineering
Public URL	https://uwe-repository.worktribe.com/output/10582543
Publisher URL	https://ieeexplore.ieee.org/document/10068763

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Copyright Statement
This is the authors accepted manuscript of the article 'Sierra M., S. D., Jimenez, M. F., Munera, M., Cifuentes, C. A., & Frizera, A. (2023). Haptic human-robot collaboration for walker-assisted navigation based on admittance controllers. IEEE Robotics and Automation Letters, 1-6'.

DOI: https://doi.org/10.1109/lra.2023.3256924

The final published version is available here: https://ieeexplore.ieee.org/document/10068763

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